Hi player stage users,
I ran a small program in which the robot rotates in a circle near a wall,=
to
understand the sonar device in stage. I also started playerv. In playerv,=
I
could see "piston" lines changing length as it moved near or farther from=
the
obstacle (wall), but when I read sonar data using the "ranges" attirbute=
, or
[] operator, the output values (seem like arbitrary numbers) never change=
=2E
Can someone explain how I can get data about distance of the robot from
surrounding obstacles using sonar device. Also, looking at playerv, it se=
emed
the sonar device is capable of giving distance all around the robot (as i=
f 16
instruments are equally distributed over 360 degrees on it). I thought so=
nar
is one device which can give distance in the direction it was oriented. F=
or my
main program, I require something like a sonar setup which can give me 7
readings equally oriented/distributed for the front 180 degrees. Earlier,=
I
thought I needed to put 7 sonar devices in different orientation on the r=
obot
(in the world file), but I am not clear now. Also what exactly is
range_count?
Thanks.
Jayesh

Matthew,
Actually, I've just joined the player/stage development team to provide
support for RWI robots. I'm connecting thru mobility, but all
mobility-specific code is surrounded by #ifdef so that support for BeeSoft
or the-next-best-thing (possibly arriving from RWI around the end of the
summer) can be swapped in.
My code currently only works with the B21R, since that's all I have to
test with. However, I think the addition of one commandline option should
make my code generic across RWI robots (at least as generic as the
connection protocol for mobility). I expect to put this code in
player/stage CVS by tonite or tomorrow nite. I'd love to see how it
works on another robot.
I have also written proxies that provide much of the functionality of the
original player/stage proxies. I have one for position, sonar, laser, and
bumpers, though the bumperproxy needs a more intuitive interface. I have
been trying to add support for the joystick and a way to read the
remaining power, but I'm struggling with the mobility interface. I'm
prepared to put those off 'til a later time so that the rest of my code
can be tested.
-- Nik Melchior
On Fri, 14 Jun 2002, Mathew Brewer wrote:
> I'm writing a player server for the RWI ATRVJunior and ATRVMini robots.
> one of these robots has 24 sonar sensors and the other has 26.
>
> In the interest of conforming to the standards I'm wondering what is the
> best way to ship this information to the client. I hear people are working
> on a system that checks the number of sonars on each pass? if so will this
> be up soon? And if not would it be preferable to simply change the size of
> the array I'm sending and rename my proxy server RWISonar? this of course
> requires changes to the client, and isn't anywhere near so elegant a
> solution.
>
> So, what should I do? - thanks in advance
>
> Matthew Brewer
>
>
>
>
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